U.S. patent application number 14/249869 was filed with the patent office on 2015-10-15 for vehicle control system and method.
This patent application is currently assigned to NISSAN NORTH AMERICA, INC.. The applicant listed for this patent is NISSAN NORTH AMERICA, INC.. Invention is credited to Yoshiro TAKAMATSU.
Application Number | 20150293534 14/249869 |
Document ID | / |
Family ID | 54265027 |
Filed Date | 2015-10-15 |
United States Patent
Application |
20150293534 |
Kind Code |
A1 |
TAKAMATSU; Yoshiro |
October 15, 2015 |
VEHICLE CONTROL SYSTEM AND METHOD
Abstract
A vehicle control system and method employs a sensing system and
a controller. The sensing system is disposed on a host vehicle and
configured to sense a visual condition of a driver of the host
vehicle. The controller is configured to control an autonomous
vehicle control system on board the host vehicle to stop the host
vehicle at a stopping location based on the visual condition and at
least one point of interest external to the host vehicle.
Inventors: |
TAKAMATSU; Yoshiro;
(Sunnyvale, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
NISSAN NORTH AMERICA, INC. |
Franklin |
TN |
US |
|
|
Assignee: |
NISSAN NORTH AMERICA, INC.
Franklin
TN
|
Family ID: |
54265027 |
Appl. No.: |
14/249869 |
Filed: |
April 10, 2014 |
Current U.S.
Class: |
701/28 |
Current CPC
Class: |
B60W 2540/225 20200201;
B60W 50/08 20130101; B60W 30/00 20130101; G05D 2201/0213 20130101;
G05D 1/0061 20130101; B60W 30/143 20130101; G06K 9/00597 20130101;
G06K 9/00845 20130101; B60W 2540/22 20130101; B60T 7/12
20130101 |
International
Class: |
G05D 1/02 20060101
G05D001/02 |
Claims
1. A vehicle control system comprising: a sensing system disposed
on a host vehicle and configured to sense a visual condition of a
driver of the host vehicle; and a controller configured to control
an autonomous vehicle control system on board the host vehicle to
stop the host vehicle at a stopping location based on the visual
condition and at least one point of interest external to the host
vehicle.
2. The vehicle control system according to claim 1, wherein the
controller is configured to determine whether the point of interest
is expected to reside within a field of view of the driver at an
expected stopping location of the host vehicle based on the driver
condition and a location of the point of interest, and to control
the autonomous vehicle control system to stop the host vehicle at
the stopping location which corresponds to the expected stopping
location upon determining that the point of interest is expected to
reside within the field of view of the driver.
3. The vehicle control system according to claim 2, wherein the
controller is configured to control the autonomous vehicle control
system to stop the host vehicle at the stopping location which
corresponds to an adjusted stopping location that is different from
the expected stopping location upon determining that the point of
interest is expected to reside outside the field of view of the
driver at the expected stopping location.
4. The vehicle control system according to claim 3, wherein the
controller is configured to determine the adjusted stopping
location as a location at which the controller determines that the
point of interest is expected to reside within the field of view of
the driver.
5. The vehicle control system according to claim 3, wherein the
controller is configured to determine the adjusted stopping
location as a location at which the controller determines at least
one of a visual system on board the host vehicle is expected to
present to the driver an image representing the point of interest
and the point of interest is expected to reside within the field of
view of the driver.
6. The vehicle control system according to claim 5, wherein the
visual system includes at least one of a visual display and a
mirror.
7. The vehicle control system according to claim 3, wherein the
controller is configured to determine the adjusted stopping
location based on a traveling condition of the host vehicle.
8. The vehicle control system according to claim 2, wherein the
visual condition represents a detected eye location of an eye of
the driver within a passenger compartment of the host vehicle; and
the controller is configured to estimate the field of view of the
driver based on the detected eye location.
9. The vehicle control system according to claim 1, wherein the
point of interest corresponds to a location of a traffic
device.
10. The vehicle control system according to claim 1, wherein the at
least one point of interest includes a plurality of points of
interest; and the controller is configured to determine whether all
of the point of interests are expected to reside within a field of
view of the driver at an expected stopping location of the host
vehicle based on the driver condition and respective locations of
the points of interest, and to control the autonomous vehicle
control system to stop the host vehicle at the stopping location
which corresponds to the expected stopping location upon
determining that all of the point of interests are expected to
reside within the field of view of the driver.
11. The vehicle control system according to claim 10, wherein the
controller is configured to control the autonomous vehicle control
system to stop the host vehicle at the stopping location which
corresponds to an adjusted stopping location that is different from
the expected stopping location upon determining that any of the
points of interest is expected to reside outside the field of view
of the driver at the expected stopping location.
12. The vehicle control system according to claim 11, wherein the
controller is configured to determine the adjusted stopping
location as a location at which the controller determines that a
visual system on board the host vehicle is expected to present to
the driver an image representing at least some of the points of
interest and the other of the points of interest is expected to
reside within the field of view of the driver.
13. The vehicle control system according to claim 1, wherein the
sensing system is further configured to sense at least one
operating condition of the host vehicle; and the controller is
further configured to control the autonomous vehicle control system
to stop the host vehicle at the stopping location based on the
visual condition, the at least one point of interest and the at
least one operating condition.
14. The vehicle control system according to claim 13, wherein the
at least one operating condition includes at least one of a speed
and a steering angle of the host vehicle.
15. The vehicle control system according to claim 1, wherein the
sensing system is further configured to sense a location of at
least one remote vehicle relative to a location of the host
vehicle; and the controller is further configured to control the
autonomous vehicle control system to stop the host vehicle at the
stopping location based on the visual condition, the at least one
point of interest and the location of the at least one remote
vehicle.
16. The vehicle control system according to claim 1, wherein the
sensing system is further configured to sense a present location of
the host vehicle; and the controller is further configured to
control the autonomous vehicle control system to stop the host
vehicle at the stopping location based on the visual condition, the
at least one point of interest and the present location of the host
vehicle.
17. The vehicle control system according to claim 1, wherein the
point of interest corresponds to a location of a remote
vehicle.
18. The vehicle control system according to claim 1, wherein the
point of interest corresponds to a location of a pedestrian.
19. The vehicle control system according to claim 1, wherein the
point of interest corresponds to a location of a traffic sign.
20. The vehicle control system according to claim 1, wherein the
point of interest corresponds to a location of a marking on a road
upon which the host vehicle is travelling.
Description
BACKGROUND OF THE INVENTION
[0001] 1. Field of the Invention
[0002] The present invention generally relates to a vehicle control
system and method. More specifically, the present invention relates
to a vehicle control system and method that is configured to
control an autonomous vehicle control system on board a host
vehicle to stop the host vehicle at a stopping location that is
advantageous to the driver.
[0003] 2. Background Information
[0004] As understood in the art, an autonomous vehicle includes a
control system that is capable of performing driving operations to
guide the vehicle to a predetermined destination without input from
the driver or with only minimal input from the driver. The control
system typically uses a plurality of high speed cameras to monitor
areas surrounding the vehicle. The cameras detect, for example,
traffic lights, signs, intersection markers, other vehicles and
obstacles, and provide visual data to the control system. The
control system can analyze this data to control driving of the
vehicle during travel, and can control the deceleration and
steering of the vehicle to stop the vehicle at an appropriate
location which can be, for example, before an intersection, based
on the field of view of the cameras.
SUMMARY OF THE INVENTION
[0005] As can be appreciated from the above, situations may arise
during which the driver may desire to assume control of the
vehicle. For instance, the driver may wish to monitor the
conditions at an intersection, and make an appropriate right turn
on red. However, because the stopping location of the vehicle is
determined based on the cameras in existing autonomous vehicle
control systems, the autonomous vehicle control system may stop the
vehicle at a location at which the driver is unable to optimally
see the traffic signal or other points of interest around the
intersection. Therefore, a need exists for an improved autonomous
vehicle control system.
[0006] In accordance with one aspect of the present invention, a
disclosed embodiment provides a vehicle control system and method
employing a sensing system and a controller. The sensing system is
disposed on a host vehicle and configured to sense a visual
condition of a driver of the host vehicle. The controller is
configured to control an autonomous vehicle control system on board
the host vehicle to stop the host vehicle at a stopping location
based on the visual condition and at least one point of interest
external to the host vehicle.
[0007] These and other objects, features, aspects and advantages of
the present invention will become apparent to those skilled in the
art from the following detailed description, which, taken in
conjunction with the annexed drawings, discloses a preferred
embodiment of the present invention.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] Referring now to the attached drawings which form a part of
this original disclosure:
[0009] FIG. 1 is a block diagram illustrating an example of a host
vehicle equipped with an vehicle control system according to
embodiments disclosed herein in relation to remote vehicles and
components of a wireless communication network;
[0010] FIG. 2 is a block diagram of exemplary components of the
host vehicle equipped with an vehicle control system according to
embodiments disclosed herein;
[0011] FIG. 3 is a block diagram of exemplary components of a
sensing system of the vehicle control system as shown in FIG.
2;
[0012] FIG. 4 is a diagrammatic view of a host vehicle and remote
vehicles traveling on a road;
[0013] FIG. 5 is a diagrammatic view of a host vehicle in relation
to an intersection; and
[0014] FIGS. 6 and 7 are flowcharts illustrating examples of
operations performed by the vehicle control system according to
embodiments disclosed herein.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0015] Selected embodiments of the present invention will now be
explained with reference to the drawings. It will be apparent to
those skilled in the art from this disclosure that the following
descriptions of the embodiments of the present invention are
provided for illustration only and not for the purpose of limiting
the invention as defined by the appended claims and their
equivalents.
[0016] FIG. 1 is a block diagram illustrating a host vehicle (HV)
10 that is equipped with vehicle control system 12 according to a
disclosed embodiment that can control an autonomous vehicle control
system on board the host vehicle 10 to stop the host vehicle 10 at
a stopping location that is advantageous to the driver as discussed
herein. The host vehicle 10 can also be referred to as a subject
vehicle (SV). The vehicle control system 12 communicates with at
least one remote vehicle (RV) 14 that can also include a vehicle
control system 12. Alternatively, the remote vehicle 14 can include
another type of two-way communication system, such as an adaptive
cruise control system, that is capable of communicating information
about at least the location and speed of the remote vehicle 14 as
understood in the art.
[0017] The vehicle control system 12 of the host vehicle 10 and the
remote vehicle 14 communicates with a two-way wireless
communications network. As seen in FIG. 1, for example, the two-way
wireless communications network can include one or more global
positioning satellites 16 (only one shown), and one or more
terrestrial units, such as roadside (terrestrial) units 18 (two are
shown), and a base station or external server 20. The global
positioning satellites 16 and the roadside units 18 send and
receive signals to and from the vehicle control system 12 of the
host vehicle 10 and the remote vehicles 14. The base station 20
sends and receives signals to and from the vehicle control system
12 of the host vehicle 10 and the remote vehicles 14 via a network
of the roadside units 18, or any other suitable two-way wireless
communications network.
[0018] As shown in more detail in FIGS. 2 and 3, the vehicle
control system 12 includes a controller 22. The controller 22
preferably includes a microcomputer with a control program that
controls the components of the vehicle control system 12 as
discussed below. The controller 22 includes other conventional
components such as an input interface circuit, an output interface
circuit, and storage devices such as a ROM (Read Only Memory)
device and a RAM (Random Access Memory) device. The microcomputer
of the controller 22 is at least programmed to control the vehicle
control system 12 in accordance with the flow chart of FIGS. 6 and
7 discussed below. It will be apparent to those skilled in the art
from this disclosure that the precise structure and algorithms for
the controller 22 can be any combination of hardware and software
that will carry out the functions of the present invention.
Furthermore, the controller 22 can communicate with the other
components of the vehicle control system 12 discussed herein via,
for example a controller area network (CAN) bus or in any other
suitable manner as understood in the art.
[0019] As shown in more detail in FIG. 2, the controller 22 can
include or be in communication with user input devices 24. The user
input devices 24 can include, for example, a human-machine
interface (HMI) which enables a user (e.g., the driver and/or
passenger) to interact with the vehicle control system 12 as
understood in the art and discussed herein. The controller 22 can
further include or be in communication with one or more storage
devices 26 which can store information as discussed herein.
[0020] As further shown in FIG. 2, the vehicle control system 12 in
this example includes or is in communication with a vehicle
navigation system 28. The vehicle navigation system 28 can be, for
example, a global positioning system (GPS) navigation system or any
other suitable type of navigation system as known in the art. The
vehicle navigation system 28 includes, for example, a communication
device 30, such as a GPS communication device that communicates
with the GPS satellites 16. The communication device 30 can also
communicate with one or more terrestrial units 18 and a base
station or external server 20 to obtain location information.
Furthermore, the vehicle navigation system 28 in this example
includes or is in communication with a storage device 32 that can
store map data and other location related data as understood in the
art.
[0021] The vehicle control system 12 in this example also includes
or is in communication with a remote vehicle determination system
34. As understood in the art, the remote vehicle determination
system 34 communicates with the remote vehicles 14 within a
communication range of the host vehicle 10 to exchange vehicle data
between the host vehicle 10 and the remote vehicles 14. This
vehicle data received from a remote vehicle 14 can include
information pertaining to the location of that remote vehicle 14,
the speed of that remote vehicle 14, information such as braking
information, turn signal information and so on which indicates
whether the remote vehicle 14 is preparing to turn or change lanes,
and any additional information that can enable the vehicle control
system 12 to ascertain the location and movement of the remote
vehicle 14.
[0022] The vehicle control system 12 in this example further
includes or is in communication with a visual system 36. The visual
system 36 can include a display device that displays, for example,
navigation information which indicates the location of the host
vehicle 10 with respect to a map as understood in the art. The
visual system 36 also includes the mirrors 37 of the host vehicle,
such as the driver side mirror, passenger side mirror and rear view
mirror. The controller 22 can receive information pertaining to the
respective positions of the mirrors 37 on the host vehicle 10 and
the respective tilt angles of the mirrors 37 as understood in the
art.
[0023] In addition, the host vehicle 10 is equipped with at least
one imaging device such as a high-speed camera. In this example,
the host vehicle 10 includes a front imaging device 38-1, a rear
imaging device 38-2, a driver side imaging device 38-3 and a
passenger side imaging device 38-4. The imaging devices 38-1
through 38-4 are positioned on the host vehicle 10 to capture real
time images to provide 360 degree field of view imaging about the
entire exterior perimeter of the host vehicle 10. The controller 22
in this example receives the image data from the imaging devices
38-1 through 38-4 and controls the visual system 36 to display
images representing the images captured by the imaging devices 38-1
through 38-4 for viewing by the driver and/or the passenger(s) as
discussed herein. The user such as the driver and/or passenger(s)
can operate the user input devices 24 to change the images being
displayed by the visual system 36. For instance, the user can
control the visual system 36 to display the images captured by any
of the imaging devices 38-1 through 38-4 as desired. The user can
also control the visual system 36 to switch between, for example,
displaying navigation information, displaying images captured by
the imaging devices 38-1 through 38-4, and displaying any other
type of information as understood in the art. Furthermore, the host
vehicle 10 can include various types of audio and tactile devices
that the controller 22 can control to provide audio and/or tactile
information, such as warnings, to be perceived by the driver.
[0024] As further shown in FIG. 2 and in more detail in FIG. 3, the
vehicle control system 12 in this example further includes or is in
communication with a sensing system 40 that is located on the host
vehicle 10. The sensing system 40 can include a plurality of
sensors that sense various conditions of the host vehicle 10. For
instance, the sensing system 40 includes an eye position detection
system 42 that can include imaging and other monitoring devices as
understood in the art to identify the position of the driver's eyes
for purposes discussed herein. The sensing system 40 further
includes vehicle characteristic sensors that are operable to sense,
for example, the speed (e.g., actual vehicle velocity and wheel
velocity), acceleration (e.g., amount of accelerator depression),
braking (e.g., amount of braking), steering wheel position (e.g.,
steering wheel angle), turn signal activation (e.g., right or left
turn indication), yaw rate and so on pertaining to the host vehicle
10.
[0025] As will now be discussed, the controller 22 of the vehicle
control system 12 is further configured to control an autonomous
vehicle control system on board the host vehicle 10 to stop the
host vehicle 10 at a stopping location that is advantageous to the
driver. In the examples discussed below, the controller 22
determines an appropriate point to stop the host vehicle 10 at a
road intersection. The embodiments described herein can also be
used to determine a stopping location at the shoulder of the road,
in a parking lot, at a location along a narrow road, at locations
during stop-and-go driving condition, and any other suitable types
of stopping locations.
[0026] The host vehicle 10 can be configured as an autonomous
vehicle which, as understood in the art, performs driving
operations to guide the vehicle 10 to a predetermined destination
without input from the driver or with minimal input from the
driver. The control system for performing the autonomous vehicle
operations can be included as part of the controller 22 or can be a
separate controller or controllers. The control system uses a
plurality of high-speed cameras, such as imaging devices 38-1
through 38-4, to monitor areas surrounding the host vehicle 10. The
cameras detect, for example, traffic lights, signs, intersection
markers, other vehicles 14, obstacles and other points of interest,
and provide visual data to the control system (e.g., the controller
22). The control system analyzes this data to control acceleration,
deceleration and steering of the host vehicle 10.
[0027] For example, as shown in FIG. 4, the host vehicle 10 is
travelling on a road 50 along with other remote vehicles 14. The
imaging devices 38-1 through 38-4 capture real time images and
provides image data to the autonomous vehicle control system. For
purposes of this example, the autonomous vehicle control system
will be described as being included in the controller 22 which
performs the autonomous vehicle control system operations. As
understood in the art, the controller 22 analyzes this image data,
along with vehicle condition data provided by the sensing system
40, navigation and map data provided by the vehicle navigation
system 28, and data pertaining to the remote vehicles 14 provided
by the remote vehicle determination system 34 as discussed above,
and controls driving of the host vehicle 10. That is, the
controller 22 controls the acceleration, deceleration, braking and
steering of the host vehicle 10 without input from the driver, or
with only minimal input from the driver, to drive the host vehicle
10 along the road 50 as understood in the art.
[0028] However, situations may arise during which the driver may
desire to assume control of the host vehicle 10. For instance, the
driver may wish to monitor the conditions at an intersection 52 as
shown in FIG. 5, and take certain action such as make an
appropriate right turn on red. However, because autonomous vehicle
control system determined the stopping location of the vehicle 10
based on the data from the imaging devices 38-1 through 38-4, the
autonomous vehicle control system may stop the host vehicle 10 at a
stopping location 54 at which the driver is unable to optimally see
the traffic signal 56 or other points of interest around the
intersection 52. For instance, due to the driver's height and thus,
the driver's eye position with respect to the windshield of the
host vehicle 10, the traffic signal 56 may be out of the driver's
field of view 58 while the host vehicle 10 is stopped at the
stopping location 54. Thus, the driver may not have enough
information, in particular, visual information, in order to make
the appropriate decisions with regard to controlling the host
vehicle 10 to, for example, make a right turn.
[0029] Accordingly, the vehicle control system 12 according to the
disclosed embodiments uses visual information pertaining to a
visual condition of the driver of the host vehicle 10 to control
the autonomous vehicle control system to stop the host vehicle 10
at a stopping location 54 based on the visual condition and at
least one point of interest external to the host vehicle 10. In the
example shown in FIG. 5, the controller 22 can perform operations
as shown in the flowchart of FIGS. 6 and 7 to control the
autonomous vehicle control system to stop the host vehicle 10 at a
stopping location 54. Although the example shown in FIG. 5 and
discussed below pertains to a stopping location at an intersection
52, the embodiments described herein can be used to determine a
stopping location at the shoulder of the road 50, in a parking lot,
at a location along a narrow road, at locations during stop-and-go
driving condition, and any other suitable types of stopping
locations.
[0030] In step S10, the controller 22 determines points of interest
at an upcoming intersection 52. The points of interest include, for
example, one or more of the following: A point of interest can be
the traffic signal 56 of the current lane in which the host vehicle
10 is present in order for the driver to understand why the
autonomous vehicle control system has stopped the host vehicle 10
(e.g., when the traffic signal 56 is turning from green to red) and
why the autonomous vehicle control system is controlling the host
vehicle 10 to begin moving again (e.g., when the traffic signal 56
turns green). Another point of interest can also be the traffic
signals 56 of all of the lanes of the road 50 in the same travel
direction in order for the driver to understand why the autonomous
vehicle control system has stopped the host vehicle 10 (e.g., when
the traffic signals 56 are turning from green to red) and why the
autonomous vehicle control system is controlling the host vehicle
10 to begin moving again (e.g., when the traffic signals 56 turn
green). A further point of interest can also be a traffic signal 56
of any of the lanes of the road 50 in the same travel direction in
order for the driver to understand why the autonomous vehicle
control system has stopped the host vehicle 10 (e.g., when the
traffic signals 56 are turning from green to red) and why the
autonomous vehicle control system is controlling the host vehicle
10 to begin moving again (e.g., when the traffic signals 56 turn
green).
[0031] In addition, a point of interest can be a road sign (e.g. a
right turn only arrow) painted on the road 50 near the stopping
position of the host vehicle 10 so that the driver can understand
the traffic regulation for the lanes of the road 50. Also, a point
of interest can be a traffic sign which indicates to the driver a
regulation pertaining to that portion of the road (e.g., no
parking). Furthermore, a point of interest can be a remote vehicle
14 that the driver can see within the driver's field of view 58 or
by a mirror on the host vehicle 10 (e.g., the remote vehicle 14 is
not obstructed by a blind spot on the host vehicle 10). Still a
further point of interest can be a pedestrian, such as a person
walking, a person riding a bicycle, etc., that the driver can see
within the driver's field of view 58 or by a mirror on the host
vehicle 10 (e.g., the pedestrian is not obstructed by a blind spot
on the host vehicle 10).
[0032] In step S11, the controller 22 determines the location of
the host vehicle 10 based on, for example, the GPS information and
other location related information as discussed above. In step S12,
the controller 22 analyzes data provided by the eye position
detection system 42 to identify the position (e.g., height) of the
driver's eyes within the passenger compartment of the host vehicle
10. In step S13, the controller 22 analyzes the data provided by
the remote vehicle determination system 34 to ascertain the
locations of the remote vehicles 14 proximate to the host vehicle
10 as understood in the art. As can further be appreciated from the
flowchart of FIG. 6, the controller 22 can perform the operations
of steps S10 through S13 in any order, or can perform some or all
of the operations simultaneously.
[0033] In step S14, the controller 22 determines whether at least
one point of interest is expected to be within the host driver's
field of view 58 at the expected stopping location at which the
autonomous vehicle control system is expected to control the host
vehicle 10 to stop. That is, the controller 22 analyzes the
locations of the points of interest based on, for example, the data
provided by the imaging devices 38-1 through 38-4, data provided
via the communications network as shown in FIG. 1, the data
provided by the eye position detection system 42 and the data
provided by the remote vehicle determination system 34 to determine
whether any of the points of interest are expected to be within the
host driver's field of view 58 at the expected stopping location.
For purposes of this example, the operations of step S14 are
described as determining whether any of the points of interest is
expected to be within the host driver's field of view at the
expected stopping location. However, the operations in step S14 can
be configured to determine whether more than one point of interest,
or whether all points of interest, are expected to be within the
host driver's field of view at the expected stopping location.
[0034] In this example, if at least one point of interest is
expected to be within the driver's field of view at the expected
stopping location, the controller 22 will control the autonomous
vehicle control system to control, for example, the steering,
braking and so on, of the host vehicle 10 to control the host
vehicle 10 to stop at the expected stopping location in step S15.
For instance, the controller 22 can control the autonomous vehicle
control system to control the host vehicle 10 to stop at the
expected stopping location which is 2.3 m away from the traffic
signal 56 with the host vehicle 10 facing in a direction 12 degrees
to the north. Thus, the controller 22 not only sets the stopping
location of the host vehicle 10, but also sets the angle of travel
at which the host vehicle 10 should be facing when stopped at the
stopping location. The process will then end and be repeated when
the autonomous vehicle control system is preparing to stop the host
vehicle 10 at the next stopping location. However, if no point of
interest is expected to be within the driver's field of view at the
expected stopping location, the controller 22 will perform a
stopping location adjustment process in step S16 and as shown in
more detail in the flowchart of FIG. 7.
[0035] Furthermore, in the case where the controller 22 is
configured to determine whether a certain number of points of
interest that exist at or proximate to the expected stopping
location are expected to be within the driver's field of view at
the expected stopping location, the processing will proceed as a
"no" condition to perform the stopping location adjustment process
in step S16 if an insufficient number of the points of interest are
expected to be within the driver's field of view. Similarly, in the
case where the controller 22 is configured to determine whether all
points of interest that exist at or proximate to the expected
stopping location are expected to be within the driver's field of
view at the expected stopping location, the processing will proceed
as a "no" condition to perform the stopping location adjustment
process in step S16 if any of the points of interest are not
expected to be within the driver's field of view.
[0036] In step S20 shown in FIG. 7, the controller 22 determines an
adjusted stopping location for the host vehicle 10. That is, the
controller 22 analyzes the locations of the points of interest
based on, for example, the data provided by the imaging devices
38-1 through 38-4, data provided via the communications network as
shown in FIG. 1, and the data provided by the remote vehicle
determination system 34, in conjunction with the data provided by
the eye position detection system 42, and determines whether an
adjusted stopping location exists at which at least one point of
interest will be within the driver's field of view 58. The adjusted
stopping location is different from the expected stopping
location.
[0037] If the controller 22 determines in step S21 that an adjusted
stopping location exists at which at least one point of interest
will be within the driver's field of view 58, the controller 22
will control the autonomous vehicle control system in step S22 to
stop the host vehicle 10 at the adjusted stopping location. The
processing will then return to the flowchart in FIG. 6 and end, and
then be repeated when the autonomous vehicle control system is
preparing to stop the host vehicle 10 at the next stopping
location. However, if the controller 22 determines in step S21 that
no adjusted stopping location exists at which at least one point of
interest will be within the driver's field of view 58, the
controller 22 will proceed to step S23 as discussed below.
[0038] Also, as with the operations of step S14 discussed above,
the operations in step S21 can be configured to determine whether
more than one point of interests, or whether all points of
interest, are expected to be within the host driver's field of view
at the adjusted stopping location. In the case where the controller
22 is configured to determine whether a certain number of points of
interest that exist at or proximate to the adjusted stopping
location are expected to be within the host driver's field of view
at the adjusted stopping location, the processing will proceed as a
"no" condition to step S23 if an insufficient number of the points
of interest are expected to be within the driver's field of view.
Similarly, in the case where the controller 22 is configured to
determine whether all points of interest that exist at or proximate
to the adjusted stopping location are expected to be within the
driver's field of view at the adjusted stopping location, the
processing will proceed as a "no" condition to step S23 if any of
the points of interest are not expected to be within the driver's
field of view.
[0039] In step S23, the controller 22 analyzes the locations of the
points of interest based on, for example, the data provided by the
imaging devices 38-1 through 38-4, data provided by the
communications network shown in FIG. 1, and the data provided by
the remote vehicle determination system 34, in conjunction with the
data provided by the eye position detection system 42, and
determines whether at least one point of interest is expected to be
viewable by the driver via the visual system 36 at the adjusted
stopping location as discussed above. If the controller 22
determines in step S23 that at least one point of interest is
expected to be viewable by the driver via the visual system 36 at
the adjusted stopping location, the controller 22 will control the
autonomous vehicle control system in step S24 to stop the host
vehicle 10 at the adjusted stopping location. As discussed above,
the visual system 36 can include a display screen that displays
images captured by the imaging devices 38-1 through 38-4, as well
as reflected images in the mirrors 37 of the host vehicle 10. The
processing will then return to the flowchart in FIG. 6 and end, and
then be repeated when the autonomous vehicle control system is
preparing to stop the host vehicle 10 at the next stopping
location. Alternatively, if the controller 22 determines in step
S23 that no adjusted stopping location exists at which at least one
point of interest is expected to be viewable by the driver via the
visual system 36, the controller 22 will proceed to step S25.
Naturally, the controller 22 can also set the adjusted stopping
location as a location at which the controller 22 determines that
the visual system 36 is expected to present to the driver an image
representing at least some of the points of interest and the other
of the points of interest is expected to reside within the field of
view 58 of the driver.
[0040] Also, as with the operations of steps S14 and S21 discussed
above, the operations in step S23 can be configured to determine
whether more than one point of interests, or whether all points of
interest, are expected to be viewable by the driver via the visual
system 36 at the adjusted stopping location. In the case where the
controller 22 is configured to determine whether a certain number
of points of interest that exist at or proximate to the expected
stopping location are expected to be viewable by the driver via the
visual system 36 at the adjusted stopping location, the processing
will proceed as a "no" condition to step S25 if an insufficient
number of the points of interest are expected to be viewable by the
driver via the visual system 36 at the adjusted stopping location.
Similarly, in the case where the controller 22 is configured to
determine whether all points of interest that exist at or proximate
to the expected stopping location are expected to be are expected
to be viewable by the driver via the visual system 36 at the
adjusted stopping location, the processing will proceed as a "no"
condition to step S23 if any of the points of interest are not
expected to be viewable by the driver via the visual system at the
adjusted stopping location. Naturally, the controller 22 can be
configured to determine in step S23 whether more than one point of
interests, or whether all points of interest, are expected to be
viewable by the driver via a combination of the driver's field of
view and the visual system 36 at the adjusted stopping location,
and proceed in a manner consistent with that discussed above.
[0041] In step S25, the controller 22 operates to determine another
adjusted stopping location for the host vehicle 10 in step S25.
That is, the controller 22 analyzes, for example, data provided by
the communications network shown in FIG. 1, the data provided by
the vehicle navigation system 28, the data provided by the remote
vehicle determination system 34, or a combination of these types of
data, and determines an adjusted stopping location which can be,
for example, a location along which the host vehicle 10 is
travelling. The controller 22 can instead set the adjusted stopping
location as a location based on information that the autonomous
vehicle control system is using the plan the path of travel for the
host vehicle 10. For instance, the adjusted stopping location can
be a location which the driver is expected to be capable of
understanding the current traffic conditions and the status of the
host vehicle 10 so that the driver can make a decision to control
the host vehicle 10 to, for example, make a lane change, make a
left or right turn, or change the path of travel of the host
vehicle 10. Naturally, the controller 22 can set the adjusted
stopping location based on any other suitable factors pertaining to
the host vehicle 10, the road 50, the presence of remote vehicles
14 or other obstacles, or a combination of these factors. The
controller 22 will then control the autonomous vehicle control
system in step S26 to stop the host vehicle 10 at that adjusted
stopping location. The processing will then return to the flowchart
in FIG. 6 and end, and then be repeated when the autonomous vehicle
control system is preparing to stop the host vehicle 10 at the next
stopping location.
[0042] While only selected embodiments have been chosen to
illustrate the present invention, it will be apparent to those
skilled in the art from this disclosure that various changes and
modifications can be made herein without departing from the scope
of the invention as defined in the appended claims. The functions
of one element can be performed by two, and vice versa. The
structures and functions of one embodiment can be adopted in
another embodiment. It is not necessary for all advantages to be
present in a particular embodiment at the same time. Every feature
which is unique from the prior art, alone or in combination with
other features, also should be considered a separate description of
further inventions by the applicant, including the structural
and/or functional concepts embodied by such feature(s). Thus, the
foregoing descriptions of the embodiments according to the present
invention are provided for illustration only, and not for the
purpose of limiting the invention as defined by the appended claims
and their equivalents.
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